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High gain antenna pointing on the Mars Exploration Rovers

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dc.contributor.author Vanelli, C. Anthony
dc.contributor.author Ali, Khaled S.
dc.date.accessioned 2006-06-06T21:24:01Z
dc.date.available 2006-06-06T21:24:01Z
dc.date.issued 2005-2-23
dc.identifier.citation IEEE International Conference on Systems, Man and Cybernetics, Waikoloa, Hawaii, October 10, 2005 en
dc.identifier.clearanceno 05-0622
dc.identifier.uri http://hdl.handle.net/2014/39283
dc.description.abstract This paper describes the algorithm used to point the high gain antennae on NASA/JPL’s Mars Exploration Rovers. The gimballed antennae must track the Earth as it moves across the Martian sky during communication sessions. The algorithm accounts for (1) gimbal range limitations, (2) obstructions both on the rover and in the surrounding environment, (3) kinematic singularities in the gimbal design, and (4) up to two joint-space solutions for a given pointing direction. The algorithm computes the intercept-times for each of the occlusions and chooses the jointspace solution that provides the longest track time before encountering an occlusion. Upon encountering an occlusion, the pointing algorithm automatically switches to the other joint-space solution if it is not also occluded. The algorithm has successfully provided flop-free pointing for both rovers throughout the mission. en
dc.description.sponsorship NASA/JPL en
dc.format.extent 2774289 bytes
dc.format.mimetype application/pdf
dc.language.iso en_US en
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2005. en
dc.subject inverse kinematics en
dc.subject hazard avoidance en
dc.subject motion planning en
dc.subject tracking en
dc.title High gain antenna pointing on the Mars Exploration Rovers en
dc.type Preprint en


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